【摘要】 以小型输电线路巡检机器人作为主要研究目标，通过三维建模和仿真分析的方法，研究夹紧机构对机器人启动稳定性和爬坡性能的影响。基于SolidWorks与ADAMS软件，以机器人前后主动轮力矩作为主要仿真目标，研究机器人稳定启动所需夹紧力。以机器人主体质心为主要仿真目标，研究夹紧力对机器人爬坡能力的影响。最后进行样机实验，验证仿真结果的正确性。结果表明，夹紧力对机器人的启动稳定性与爬坡能力具有积极作用。该研究可作为小型输电线路巡检机器人夹紧力参数设置的重要理论支撑。更多还原

【Abstract】 Taking the small power transmission line inspection robot as the main research target, the influence of the clamping mechanism on the robot’s starting stability and climbing performance is studied by means of 3D modeling and simulation analysis. Based on SolidWorks and ADAMS software, taking the front and rear driving wheel torque of the robot as the main simulation target, the clamping force required for the stable start of the robot is studied. Taking the center of mass of the robot body as the main simulation target, the influence of the clamping force on the robot’s climbing ability is studied. Finally, a prototype experiment is carried out to verify the correctness of the simulation results. The results show that the clamping force has a positive effect on the starting stability and climbing ability of the robot. It can be used as an important theoretical support for the setting of clamping force parameters of small power transmission line inspection robots.更多还原